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Polynomial Approximation of Closed-form MPC for Piecewise Affine Systems

IFAC Proceedings Volumes 2008年第2期41卷 3877-3882页

作者： Michal Kvasnica Frank J. Christophersen Martin Herceg Miroslav Fikar Institute of Automation Information Engineering and Mathematics Slovak University of Technology 812 37 Bratislava Slovakia Automatic Control Laboratory ETH Zurich Physikstrasse 3 8092 Zurich Switzerland

This paper addresses the issue of the practical implementation of closed-form Model Predictive controllers (MPC) to processes with very short sampling times. Such questions come in consideration when the solution to MPC problems is expressed in a so-called parametric or closed-form fashion. The underlying idea of this paper is to approximate the optimal control law defined over state space regions by a higher degree polynomial which then guarantees closed-loop stability, constraint satisfaction, and a bounded performance decay. The advantage of the proposed scheme lies in faster controller evaluation and lower storage demand compared to currently available techniques.

关键词： model predictive control hybrid systems Lyapunov stability approximation

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New Delay-dependent Absolute Stability Criteria for Lurie control Systems

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自动化学报 2008年第10期34卷 1275-1280页

作者： GAO Jin-Feng SU Hong-Ye JI Xiao-Fu CHU Jian Institute of Automation Zhejiang Sei-Teeh University Hangzhou 310018 P.R. China State Key Laboratory of Industrial Control Technology Institute of Advanced Process Control Zhejiang Uni- versity Yuquan Campus Hangzhou 310027 P. R. China School of Electrical and Information Engineering Jiangsu University Zhen- jiang 212013 P. R. China

这笔记为时间延期 Lurie 控制系统涉及绝对稳定性分析，非线性在一个无限的扇区和有限扇区定位了。由使用新 Lyapunov-Krasovskii 功能那把整个延期间隔切成二个子区间并且在每个子区间和介绍一些上定义不同精力功能免费重量的矩阵，某... 详细信息

这笔记为时间延期 Lurie 控制系统涉及绝对稳定性分析，非线性在一个无限的扇区和有限扇区定位了。由使用新 Lyapunov-Krasovskii 功能那把整个延期间隔切成二个子区间并且在每个子区间和介绍一些上定义不同精力功能免费重量的矩阵，某新延期依赖者要用体力地绝对的稳定性标准以严格的线性矩阵不平等(LMI ) 被介绍。获得的延期依赖者标准不比以前的保守，作为被数字例子说明。

关键词：时间延迟稳定性自动化系统 Lurie控制系统

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Multi-rate optimizing control of simulated moving beds

Multi-rate optimizing control of simulated moving beds

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IEEE Conference on Decision and control

作者： Cristian Grossmann Christian Langel Marco Mazzotti Massimo Morbidelli Manfred Morari Automatic Control Laboratory ETH Zurich Zurich Switzerland Institute of Process Engineering ETH Zurich Zurich Switzerland Institute for Chem. and Bio-Engineering ETH Zurich Zurich Switzerland

ISBN: (纸本)9781424431236

This paper presents an optimizing control scheme for simulated moving beds (SMB) that allows multi-rate (MR) sampled measurements to be incorporated into the control and estimation problem in a clear and transparent manner. This is particularly relevant for chiral separations where online monitoring requires the combination of various analytical techniques that may operate on widely varying time scales. An MR periodic linear time-varying (PLTV) model is derived for the SMB process. The cyclic nature of the process is exploited by formulating the MR PLTV model within a repetitive model predictive control framework. Simulation results for a chiral separation are presented. The proposed multi-rate controller is able to deliver increased productivity while respecting the process and product specifications.

关键词： Economic forecasting Predictive models Productivity Solids Steady-state Chemical technology Uncertainty Pressure control Monitoring Predictive control

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New Delay-Dependent Criteria for Robust Stability of Uncertain Singular Systems

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IFAC Proceedings Volumes 2008年第2期41卷 2484-2489页

作者： Gao Jinfeng Su Hongye Ji Xiaofu Chu Jian State Key Laboratory of Industrial Control Technology Institute of Advanced Process Control Zhejiang University Yuquan Campus Hangzhou 310027 P.R. China Institute of Automation Zhejiang Sci-Tech University Hangzhou 310018 P.R. China School of Electrical and Information Engineering Jiangsu University Zhenjiang 212013 P.R. China

This note concerns the delay-dependent robust stability analysis for uncertain singular time-delay systems. The parameter uncertainty is assumed to be norm-bounded and possibly time-varying, while the time delay considered here is assumed to be constant but unknown. By using a new Lyapunov-krasovskii functional which splits the whole delay interval into two subintervals and defines a different energy function on each subinterval, some delay-dependent conditions are presented for the singular time-delay system to be regular, impulse free and robustly stable. The obtained delay-dependent criteria are effective and less conservative than previous ones, which are illustrated by numerical examples.

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New Delay-dependent Absolute Stability Criteria for Lurie control Systems

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Acta automatica Sinica 2008年第10期34卷 1275-1280页

作者： Jin-Feng GAO Hong-Ye SU Xiao-Fu JI Jian CHU Institute of Automation Zhejiang Sci-Tech University Hangzhou 310018 P. R. China State Key Laboratory of Industrial Control Technology Institute of Advanced Process Control Zhejiang University Yuquan Campus Hangzhou 310027 P. R. China School of Electrical and Information Engineering Jiangsu University Zhenjiang 212013 P. R. China

This note is concerned with the absolute stability analysis for time-delay Lurie control systems with nonlinearity located in an infinite sector and finite one. By using a new Lyapunov-Krasovskii functional that splits the whole delay interval into two subintervals and defines a different energy function on each subinterval and introducing some free-weighting matrices, some new delay-dependent robustly absolute stability criteria are presented in terms of strict linear matrix inequalities (LMIs). The obtained delay-dependent criteria are less conservative than previous ones, as are illustrated by numerical examples.

关键词： Lurie control system delay-dependent criterion absolute stability uncertainty linear matrix inequality (LMI)

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Multi-Model Based Fault Detection and Diagnosis of a Hydraulic Servo Axis

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IFAC Proceedings Volumes 2008年第2期41卷 13117-13117页

作者： Marco Muenchhof Technische Universitaet Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process Automation Darmstadt Germany (Tel: +49-6151-16-3114

This contribution describes the design and implementation of a multi-model based fault detection and diagnosis system for a hydraulic servo axis. Multiple models are operated in parallel to the plant - similar to a bank of observers. Beside one model mimicking the fault free process, there are additional models describing the process behavior in the presence of both actuator and process faults. For each model the squared error between the model output and the plant output is determined. The model which (over a period of time) shows the best match with the process is assumed to currently best describe the process behavior. The fault injected into the model with the best match is thus at the same time the diagnosis, i.e. the fault which is assumed to be present in the real system. This system has been tested exhaustively at a testbed. The result of the tests is shown in the accompanying video.

关键词： Hydraulic Actuators Fault Diagnosis Physical Models Video Demonstration

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Performance evaluation of Kalman filter for fault detection of hydraulic actuators

Performance evaluation of Kalman filter for fault detection ...

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作者： Muenchhof, Marco Isermann, Rolf Laboratory for Control Systems and Process Automation Institute of Automatic Control TU Darmstadt Germany

ISBN: (纸本)9783902661241

In this paper, an Extended Kalman-Bucy-Filter approach for fault detection and diagnosis of an hydraulic servo-axis is presented. The filter improves the results with the EKF as reported in literature since it uses a new model structure, considers nonlinear valve spool displacement-flow relationships and incorporates temperature effects. The performance of the newly proposed architecture is evaluated thoroughly at a testbed in the presence of both process faults and sensor faults. For sensor faults, the smallest reliably detectable sensor fault is determined. The method is finally compared to parity equations and parameter estimation, which have also successfully been applied to the supervision oif hydraulic servo axes. Copyright © 2007 IFAC.

关键词： Fault detection

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Identification methods for experimental nonlinear modeling of combustion engines

Identification methods for experimental nonlinear modeling o...

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作者： Schreiber, Alexander Isermann, Rolf Laboratory of Control Engineering and Process Automation Institute of Automatic Control Darmstadt University of Technology Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany

ISBN: (纸本)9783902661265

The optimized control of combustion engines with regard to minimized fuel consumption and emissions requires nonlinear models. Because of an increase of control inputs, like fuel mass flow, injection angle, exhaust gas recirculation flow and several outputs like torque, nitrogen oxides (NOx), hydrocarbons (HC) and particulates the classical grid-based measurement techniques take too long time and do not include dynamics. Therefore different measurement strategies for the stationary and dynamic behavior are described, like Design of Experiments (DoE) and use of suitable neural networks and Pseudo-Random-Binary-Signals (PRBS). As the structure of the models is not precisely known a-priori, nonlinear identification methods in form of special versions of neural networks are good candidates. Therefore, it will be shown how with special amplitude-modulated pseudo random binary signals (APRBS), simultaneous excitation of several input signals, nonlinear multi-input multi-output models can be obtained in relatively short time. Copyright © 2006 IFAC.

关键词： Nitrogen oxides

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PERFORMANCE EVALUATION OF KALMAN FILTER FOR FAULT DETECTION OF HYDRAULIC ACTUATORS

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IFAC Proceedings Volumes 2007年第7期40卷 692-697页

作者： Marco Muenchhof Rolf Isermann Institute of Automatic Control Laboratory for Control Systems and Process Automation TU Darmstadt Germany

关键词： Hydraulic Actuator Fault Detection Extended Kalman-Bucy Filter Nonlinear Parameter Estimation

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